prepare fps for optimization 2

fps_alg.py

@@ -171,17 +171,17 @@ def process(pcd_box, pcd2, R_exp, tVec, camera, img):
 
 def generate_fps(data_name, camera, Nb_camera, Nb_world, list_categories, occ_target, vis=False):
     # Read the point cloud
-    for categories in list_categories:
-        obj_id = 1
-        point_cloud = f'{data_name}/Generated/Models/{categories}/{categories.lower()}.ply'
-        pcd = o3d.io.read_point_cloud(point_cloud)
+    # for categories in list_categories:
+    #     obj_id = 1
+    #     point_cloud = f'{data_name}/Generated/Models/{categories}/{categories.lower()}.ply'
+    #     pcd = o3d.io.read_point_cloud(point_cloud)
 
-        print("pcd", pcd)
+    #     print("pcd", pcd)
 
 
-        fps_points = apply_fps(pcd, 200)
-        #print(fps_points)
-        np.savetxt(f'{data_name}/Generated/FPS/{categories}_fps_3d.txt', fps_points)
+    #     fps_points = apply_fps(pcd, 200)
+    #     #print(fps_points)
+    #     np.savetxt(f'{data_name}/Generated/FPS/{categories}_fps_3d.txt', fps_points)
     
     for i in range(1, Nb_world + 1): # worlds
         catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id = compute_categories_id(data_name, i)
@@ -210,7 +210,7 @@ def generate_fps(data_name, camera, Nb_camera, Nb_world, list_categories, occ_ta
                     points = process2(fps_points, R_exp, tVec, camera, img, vis)
                     out = np.zeros((1, 401))
 
-                    out[0] = obj_id
+                    out[0] = catergories_occ_array[categories] #obj_id #len have to be 1 !!
                     ind = 1
                     for point in points:
                         out[0][ind] = point[0][0] / img.shape[1]
@@ -218,4 +218,4 @@ def generate_fps(data_name, camera, Nb_camera, Nb_world, list_categories, occ_ta
                         ind += 2
                     np.savetxt(f'{data_name}/Generated/FPS/{categories}/{p}.txt', out)
                     print("stop")
-                    obj_id += 1
+

main.py

@@ -5,10 +5,11 @@ from prepare_data import reform_data
 #from pose import transform_pose
 #from bbox_2d import generate_2d_bbox
 #from instance_mask import generate_instance_mask
-from fps_alg import generate_fps
+from fps_alg import generate_fps, apply_fps
 from bbox_3d import generate_3d_bbox
 from compute_features import process_compute
 import shutil
+import open3d as o3d
 
 def generate_folders(name, list_categories):
     is_exist = os.path.exists(name)
@@ -49,6 +50,17 @@ if __name__ == '__main__':
         dst_bbox = f"{dataset_name}/Generated/Models/{cat}/{cat.lower()}.ply"
         shutil.copy(src_bbox, dst_bbox)
 
+    for categories in list_categories:
+        point_cloud = f'{dataset_name}/Generated/Models/{categories}/{categories.lower()}.ply'
+        pcd = o3d.io.read_point_cloud(point_cloud)
+
+        print("pcd", pcd)
+
+        fps_points = apply_fps(pcd, 200)
+        #print(fps_points)
+        np.savetxt(f'{dataset_name}/Generated/FPS/{categories}_fps_3d.txt', fps_points)
+
+
     if choice == 'high':
         camera = np.matrix([[1386.4138492513919, 0.0, 960.5],
                             [0.0, 1386.4138492513919, 540.5],